Free-form pose estimation by using twist representations
@Article{rosenhahn04algorithmica,
  author = 	 {B. Rosenhahn and C. Perwass and G. Sommer},
  title = 	 {Free-form pose estimation by using twist representations},
  journal = 	 {Algorithmica},
    year = 	 2004,
  volume =	 38,
  pages =	 {91-113}
}